仿真机器人足球赛中的实时预测拦截算法.pdfVIP

2012年2月 电 子 测 试 Feb.2012 第2期 ELECTRONIC TEST No.2 仿真机器人足球赛中的实时预测拦截算法 朱 捷 （南京邮电大学 自动化学院 江苏南京 210003） 摘要：Robocup3D仿真比赛是研究多Agent之间协作和对抗的良好平台，从最初的3人对抗发展到如今的9 人对抗，以至于如今提高Agent的防守能力是一个具有挑战性与迫切性的问题。为制定适当的防守策略，将 Robocup3D比赛中的一个子任务——防守任务分解为多个一对一防守任务，本文通过采用预测拦截算法来 增强单个Agent的防守能力。并将该算法应用到3D仿真球队——南京邮电大学Apollo3D球队中。最后运用 Roboviz软件验证了采用实时预测拦截算法在防守中可以准确有效的拦截目标。并且在实际比赛过程中取得了 良好效果。 关键词： Robocup; Roboviz；对抗；拦截；预测 中图分类号: TP23 文献标识码: B Prediction of the real-time interceptor algorithm for robot football match simulation Zhu Jie （ College of automation college,Nanjing university of posts and telecommunications,Nanjing 210003, Jiangsu,China） Abstract: Robocup 3D soccer simulation is an excellent platform in which collaboration and counterwork among multi -agent are studied. This competition has been developed from three agents versus three agents to nine agents versus ’ nine agents. So that improve agent s defensive ability is a challenging problem with urgency.In order to making proper defense tactic.we will decompose a subtask, half field defence , into some one versus one defense subtask and pose it ’ as a problem of predicting a moving target s trajectory and probing a possible engagement position. we achieved good results when we used the algorithm to the 3D simulation team-Apollo3D which team come from nanjing university of posts and telecommunications.It demonstrate that the algorithm can accurately and effectively intercep